Exhibition hall accompanying type tour guide method and system based on UWB positioning and mobile robot

Abstract

The application discloses a kind of based on UWB positioning and mobile robot exhibition hall accompanying type guide method and system, the method includes the following steps: step one: the position data of the UWB positioning label worn by visitor is obtained, and the UWB positioning label is bound with a guide session;Step two: according to label identity, session state and preset condition, lock service object;Step three: real-time calculation is carried out between visitor, mobile robot and target exhibition item The ternary synergic relationship;Step four: according to the ternary synergic relationship, the accompanying guide strategy of mobile robot is generated;Step five: control the mobile robot moves according to the accompanying guide strategy accompanying visitor, and when meeting exhibition item explanation trigger condition, execute the explanation task of corresponding exhibition item.The application uses the above method, can improve the stability, accuracy and on-site experience of exhibition hall mobile robot guide.

Description

Technical Field

[0001] This invention belongs to the fields of smart exhibition halls, indoor high-precision positioning, and mobile robot-guided tours, specifically relating to an exhibition hall accompanying tour method and system based on UWB positioning and mobile robots. Background Technology

[0002] Current smart exhibition hall guided tour methods mainly include human guides, fixed screen guides, mobile app guides, audio guides, and mobile robot guides. Among them, mobile robots offer a stronger sense of presence and can interact with visitors through voice, screen, gestures, or facial expressions, making them suitable for tasks such as greeting guests, leading the way, providing explanations, and answering questions.

[0003] However, existing mobile robot guides still present some engineering challenges in actual exhibition halls. Robots typically rely on preset routes, QR code locations, laser mapping, or visual recognition to determine their location and target audience. In situations with high visitor traffic, changing lighting, dense exhibits, people obstructing the view, or multiple people approaching the robot simultaneously, the robot struggles to reliably determine which visitor to serve and maintain an appropriate following distance.

[0004] On the other hand, UWB indoor positioning technology can provide high-precision location data in exhibition halls, making it suitable for identifying visitors' locations and movement trends. The smart exhibition hall market and technology solutions are evolving from simple multimedia displays to a closed-loop system of "precise positioning + intelligent guidance + interactive services," with positioning technology considered one of the foundations for achieving location-triggered and personalized guidance.

[0005] Using only UWB positioning results for mobile phone-push guided tours fails to fully leverage the on-site service capabilities of mobile robots; conversely, relying solely on robots to provide guided tours along fixed routes is ill-suited to the actual walking pace of visitors. Therefore, it is necessary to propose a method and system for accompanying guided tours that integrates UWB positioning with mobile robots. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies, this invention provides a method and system for accompanying tours in exhibition halls based on UWB positioning and mobile robots. This solves the problems of existing robots having difficulty accurately identifying the current service target, easily following the wrong person, and having the robot's explanation content not synchronized with the visitor's position, thus failing to meet the needs and experience of tour guiding.

[0007] The technical solution adopted by the present invention to solve the above problems is:

[0008] The exhibition hall guided tour method based on UWB positioning and mobile robot collaboration includes the following steps:

[0009] Step 1: Obtain the location data of the UWB positioning tag worn by the visitor, and bind the UWB positioning tag to a guided tour session;

[0010] Step 2: Based on the tag identity, session status, and preset conditions, identify the service recipient;

[0011] Step 3: Real-time calculation of the ternary collaborative relationship between visitors, mobile robots, and target exhibits;

[0012] Step 4: Generate a guided tour strategy for the mobile robot based on the aforementioned ternary collaborative relationship;

[0013] Step 5: Control the mobile robot to move with the visitor according to the accompanying tour strategy, and execute the explanation task of the corresponding exhibit when the exhibit explanation trigger condition is met.

[0014] Furthermore, as a preferred technical solution, the visitor's location data in step one includes the visitor's planar coordinates, timestamp, and location reliability; when the location reliability is lower than a preset threshold, the mobile robot does not perform target locking or enters a pause waiting state.

[0015] Furthermore, as a preferred technical solution, the locking conditions for the service object include:

[0016] Visitor tags are in a valid binding state and location credibility is higher than a preset threshold;

[0017] Visitors are either located within the mobile robot service area or have proactively requested a guided tour.

[0018] Visitors are within an accessible distance from the mobile robot;

[0019] The visitor's movement direction, stopping behavior, or terminal operation are matched with the current guided tour task;

[0020] Once the above conditions are met for a preset period of time, the visitor will be officially designated as a service recipient.

[0021] Furthermore, as a preferred technical solution, the specific calculation steps for the ternary synergistic relationship include:

[0022] Calculate the distance from the visitor to the mobile robot, the distance from the visitor to the target exhibit, and the distance from the mobile robot to the target exhibit;

[0023] Calculate the angle between the visitor's direction of movement and the direction of the target exhibit;

[0024] Calculate the time visitors spend near the target exhibit;

[0025] Calculate the collaboration score S to determine whether to generate an accompanying guided tour task:

[0026] S = w1·Qv + w2·Qr + w3·Fd + w4·Fdir + w5·Fstay + w6·Fhist -w7·Frisk;

[0027] Where Qv is visitor location reliability, Qr is robot navigation status reliability, Fd is distance adaptability, Fdir is direction consistency, Fstay is dwell behavior, Fhist is historical tour status, Frisk is obstacle, congestion or low battery risk factors, and w1 to w7 are weighting coefficients.

[0028] When the collaboration score S exceeds the set threshold and the safety conditions of the mobile robot are met, a mobile robot-assisted tour task is generated.

[0029] Furthermore, as a preferred technical solution, the accompanying guided tour strategy in step four includes: leading mode, parallel mode, following mode, stop and explain mode, pause and wait mode, and obstacle avoidance and yielding mode; wherein, the switching of the mode is dynamically adjusted based on the visitor's movement status, exhibit position, and passage conditions.

[0030] Furthermore, as a preferred technical solution, the explanation triggering conditions include:

[0031] Visitors are located in the explanation area for the target exhibits;

[0032] The mobile robot arrives at the preset explanation location;

[0033] Visitors stayed longer than the predetermined threshold;

[0034] Visitors lingered near exhibits for longer than a set threshold.

[0035] The explanation of the target exhibit has not yet been completed;

[0036] When all of the above conditions are met, the mobile robot will trigger the explanation.

[0037] Furthermore, as a preferred technical solution, the mobile robot itself is equipped with a UWB positioning tag to obtain the position of the mobile robot in the coordinate system of the exhibition hall. The mobile robot also uses its own lidar, odometer, depth camera or ultrasonic sensor for local obstacle avoidance.

[0038] Furthermore, as a preferred technical solution, when obstacles, crowd congestion, low battery of the mobile robot, abnormal positioning, or visitors leaving the service area are detected, the mobile robot enters obstacle avoidance, pause and wait, or end / return to charging state.

[0039] An exhibition hall guided tour system based on UWB positioning and mobile robot collaboration includes:

[0040] UWB base stations are deployed in the exhibition hall for ranging or positioning with visitor tags or robot positioning units;

[0041] Visitor UWB location tags are linked to visitor guided tour sessions and continuously output visitor location and online status.

[0042] The mobile robot is equipped with a mobile chassis, voice broadcast, screen display, obstacle avoidance sensors and communication module, and can perform tasks such as accompanying movement and explaining exhibits;

[0043] The background positioning engine calculates visitor location, positioning quality, and timestamp, and provides positioning data to the tour control module;

[0044] The tour guide control module generates accompanying tour guide strategies and robot control instructions based on the three-element collaborative relationship between visitors, mobile robots, and exhibits.

[0045] The exhibition content library stores exhibit descriptions, images, videos, Q&A materials, recommended routes, and tags for the target audience.

[0046] Furthermore, as a preferred technical solution, it also includes an audience terminal for content synchronization and interactive feedback with the mobile robot, enabling the collaborative presentation of on-site voice explanations and supplementary on-screen content.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] (1) By using UWB positioning tags and binding them to the tour guide session, the present invention enables the mobile robot to reliably identify the service object, reduces the problem of misfollowing caused by relying on visual recognition, and improves the stability and accuracy of the service.

[0049] (2) By adopting a three-element collaborative computing approach involving visitors, mobile robots and exhibits, this invention achieves a precise understanding of visitor behavior, ensuring that the robot provides explanations at the correct time and location, making the robot's explanations more synchronized with the on-site location, and avoiding explanations given on the fly or in advance.

[0050] (3) By designing multiple accompanying modes such as leading, parallel, following, and stopping, this invention enables the mobile robot to adapt to different widths of passages, different densities of passenger flow and the pace of visitors, thereby improving the adaptability of the tour guide.

[0051] (4) The present invention improves the operational safety of mobile robots in complex exhibition halls by setting safe distances, obstacle avoidance and yielding mechanisms and abnormal retreat mechanisms.

[0052] (5) This invention avoids the confusion of the mobile robot's state between standby, following, explaining, obstacle avoidance and recharging by using a state machine to manage the tour process. At the same time, it ensures the safety and stability of the exhibition site by designing a well-designed exception and rollback mechanism.

[0053] (6) This invention provides visitors with a better on-site experience by using robots in collaboration with audience terminals to create an experience that combines on-site explanation, screen supplementation and interactive feedback. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the method flow of the present invention;

[0055] Figure 2 This is a schematic diagram of the system composition structure of the present invention;

[0056] Figure 3 This is a schematic diagram of the accompanying guided tour scenario of the present invention;

[0057] Figure 4 This is a state machine diagram of the robot accompanying tour according to the present invention. Detailed Implementation

[0058] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0059] Example

[0060] like Figure 1 As shown in the figure, the exhibition hall accompanying guided tour method based on UWB positioning and mobile robots in this embodiment includes the following steps:

[0061] Step 1: Obtain the location data of the UWB positioning tag worn by the visitor, and bind the UWB positioning tag to a guided tour session;

[0062] Step 2: Based on the tag identity, session status, and preset conditions, identify the service recipient;

[0063] Step 3: Real-time calculation of the ternary collaborative relationship between visitors, mobile robots, and target exhibits;

[0064] Step 4: Generate a guided tour strategy for the mobile robot based on the aforementioned ternary collaborative relationship;

[0065] Step 5: Control the mobile robot to move with the visitor according to the accompanying tour strategy, and execute the explanation task of the corresponding exhibit when the exhibit explanation trigger condition is met.

[0066] In step one above, the visitor's location data includes the visitor's planar coordinates, timestamp, and location reliability. When the location reliability is lower than a preset threshold, the mobile robot does not perform target locking or enters a pause waiting state.

[0067] In step two above, the locking conditions for the service recipient include:

[0068] Visitor tags are in a valid binding state and location credibility is higher than a preset threshold;

[0069] Visitors are either located within the mobile robot service area or have proactively requested a guided tour.

[0070] Visitors are within an accessible distance from the mobile robot;

[0071] The visitor's movement direction, stopping behavior, or terminal operation are matched with the current guided tour task;

[0072] Once the above conditions are met for a preset period of time, the visitor will be officially designated as a service recipient.

[0073] Specifically, when visitors enter the venue, they complete the binding of UWB positioning tags through self-service devices, manual card issuance, or mini-programs. The background saves the correspondence between visit_session_id and tag_id. The positioning engine periodically outputs the visitor's location data P_v=(x_v,y_v,t,q_v), where x_v and y_v are the plane coordinates of the exhibition hall, t is the timestamp, and q_v is the positioning reliability.

[0074] Once the robot enters standby mode, it doesn't directly serve the nearest person. Instead, it determines whether to lock onto a service recipient based on tag identity, session status, location reliability, distance, relative direction, and duration. Typical locking conditions include:

[0075] Visitor tags are in a valid binding state, and the location confidence level q_v is higher than the preset threshold;

[0076] Visitors can be located in the robot service area or actively request a guided tour.

[0077] The distance between visitors and the robots is within an approachable range, for example, 0.8 m to 5 m;

[0078] The visitor's movement direction, stopping behavior, or terminal operation are matched with the current guided tour task;

[0079] The above conditions must be met continuously for a period of time, such as 1 to 3 seconds, to avoid accidental locking caused by a momentary passage.

[0080] When multiple people approach the mobile robot at the same time, the system prioritizes visitors who have booked robot tours, have made requests, belong to the current team's main tag, have high location quality, and have the clearest intention to interact with the robot.

[0081] In this embodiment, the guidance decision is based on a ternary collaborative relationship between the visitor, the mobile robot, and the target exhibit, rather than simply determining whether the visitor is near a particular exhibit. The system calculates the following relational quantities:

[0082] The distance d_vr from the visitor to the robot is used to determine whether the robot needs to approach, wait, or retreat.

[0083] The distance d_ve from the visitor to the target exhibit is used to determine whether the visitor is about to enter the guided tour area;

[0084] The distance d_re from the mobile robot to the target exhibit is used to determine whether the robot can reach the explanation location in time.

[0085] The angle between the visitor's direction of movement and the direction of the target exhibit is used to determine whether the visitor has a tendency to move towards that exhibit;

[0086] The time visitors spend near exhibits is used to determine whether a guided tour is necessary.

[0087] The mobile robot's current posture, channel width, and obstacle positions are used to determine a safe standing position.

[0088] The system can calculate a collaboration score S, which is used to determine whether to generate an accompanying guided tour task.

[0089] S = w1·Qv + w2·Qr + w3·Fd + w4·Fdir + w5·Fstay + w6·Fhist -w7·Frisk;

[0090] Where Qv represents visitor location reliability, Qr represents robot location or navigation status reliability, Fd represents distance adaptability, Fdir represents direction consistency, Fstay represents dwell behavior, Fhist represents historical tour status, Frisk represents risk factors such as obstacles, congestion, or low battery, and w1 to w7 are weights.

[0091] When the collaboration score S exceeds the set threshold and the robot safety conditions are met, the system generates a robot-accompanied tour task; when the collaboration score S is below the threshold or there is a safety risk, the robot remains on standby, pauses and waits, or performs obstacle avoidance and yielding.

[0092] The accompanying guided tour strategy in step four of this embodiment includes: leading mode, parallel mode, following mode, stop and explain mode, pause and wait mode, and obstacle avoidance and yielding mode; wherein, the switching of the mode is dynamically adjusted based on the visitor's movement status, exhibit position, and passage conditions.

[0093] Specifically, the leading mode is suitable for visitors who need to be guided to the next exhibit, where the aisle width allows the mobile robot to be in front. In this mode, the mobile robot maintains a certain distance in front of the visitor, moves at a low speed, and provides directional guidance as needed. The parallel mode is suitable for visitors in wider aisles or open exhibition areas who need to walk and talk simultaneously. In this mode, the mobile robot is positioned to the front or side of the visitor, maintaining a distance that does not obstruct their view. The following mode is suitable for narrow aisles, areas with high traffic, or when visitors are actively browsing. In this mode, the robot is positioned behind or diagonally behind the visitor, minimizing interference with the aisle and their line of sight. The stop and explain mode is suitable for visitors who have reached their target exhibit and are staying there. In this mode, the mobile robot stops at the explanation point and explains to the visitor or exhibit. The pause and wait mode is suitable for visitors who have stayed too long, left the service area, or have unstable positioning. In this mode, the mobile robot maintains a safe position and waits, prompting the user for confirmation when necessary. The obstacle avoidance and yielding mode is suitable for situations where there are obstacles, children, wheelchairs, crowds, or blocked aisles ahead. In this mode, the mobile robot slows down, yields, detours, or requests the backend to replan the route.

[0094] In this embodiment, the triggering conditions for the mobile robot's explanation include:

[0095] Visitors are located in the explanation area for the target exhibits;

[0096] The mobile robot arrives at the preset explanation location;

[0097] Visitors stayed longer than the predetermined threshold;

[0098] Visitors lingered near exhibits for longer than a set threshold.

[0099] The explanation of the target exhibit has not yet been completed;

[0100] When all of the above conditions are met, the mobile robot will trigger the explanation.

[0101] Specifically, such as Figure 3 As shown, when visitors and mobile robots approach the target exhibit and the visitor's dwell time exceeds a set threshold, the system enters exhibit explanation mode. The explanation content is provided by the exhibit content library and can include basic explanation text, key knowledge, interactive Q&A, pictures and videos, and simplified versions for different groups of people.

[0102] The triggering of explanations should not be based solely on the distance between the visitor and the exhibit. Instead, it should take into account factors such as the visitor's location, the robot's location, dwell time, orientation, whether the target exhibit has already been explained, and whether the mobile robot has reached a suitable location for explanation. This can prevent the robot from giving an incorrect explanation when the visitor is just passing by an exhibit, and it can also prevent premature announcements when the robot has not yet reached the explanation location.

[0103] In one implementation, the mobile robot's narration is synchronized with the viewer's terminal. The robot provides on-site audio and gesture narration, while the viewer's terminal displays images, supplementary text, question entry points, or multilingual subtitles. For children's or elderly modes, the system can adjust the narration speed, content length, and interaction methods.

[0104] Preferably, in this embodiment, the mobile robot itself is equipped with a UWB positioning tag to obtain the mobile robot's position in the exhibition hall coordinate system. The mobile robot also uses its own LiDAR, odometry, depth camera, or ultrasonic sensors for local obstacle avoidance. UWB positioning is responsible for establishing global positional relationships, while the mobile robot's own sensors are responsible for near-range obstacle avoidance and fine-grained movement control.

[0105] like Figure 4 As shown, in this embodiment, the robot-guided tour process can be managed by a state machine. Typical states include standby, target recognition, accompanying guidance, exhibit explanation, pause and waiting, obstacle avoidance and yielding, and end / recharge. The entry conditions, exit conditions, or actions for each typical state are detailed in Table 1.

[0106] Table 1. Entry conditions, exit conditions, or actions corresponding to typical states of a mobile robot.

[0107] stand by The robot is idle and has not locked onto any visitors. A valid visitor has been detected entering the service area or a guided tour request has been received. Target recognition Discover candidate visitor or team main tags Once the target is locked, the system will enter a guided mode; if the target leaves, the system will return to standby mode. Accompanying guidance Visitors establish service relationships with robots Upon reaching the target exhibit, proceed to the exhibit explanation; upon encountering obstacles, proceed with obstacle avoidance and yielding. Exhibit explanation Both visitors and robots reached the designated area for explaining the target exhibit. After the explanation is completed, move on to the next exhibit, or end the guided tour based on visitor feedback. Pause and wait Visitors staying, leaving the group, having unstable positioning, or voluntarily pausing Visitors can relocate or confirm their continued visit after the visitor has moved again. Obstacle avoidance and yielding Pathways are blocked, children / wheelchairs / people are close, or safety risks are increased. Restore the path after the obstacle disappears, or replan the route. End / Recharge Guided tour completed, low battery, task cancelled, or museum closed. The robot returns to its standby point or charging point.

[0108] As a preferred approach, in group tour scenarios, a specific UWB tag within the group can be designated as the primary tag, or the group's center point can be calculated based on the positions of multiple tags. The robot prioritizes following the primary tag or the group's center point, selecting a position that covers most team members during its explanation. If team members become scattered, the system can prompt "Please move closer to the robot to continue the explanation," or only provide explanations to members near the primary tag. If a member leaves the group, the robot does not need to immediately stop the tour; the system can alert staff or the group leader from the backend.

[0109] In addition, to ensure on-site safety and a stable user experience, this invention can be configured with an anomaly rollback mechanism:

[0110] When a visitor's UWB location is briefly lost, the robot will briefly maintain or slow down to wait at the previous reliable location.

[0111] If the location is lost for more than a certain number of consecutive times, the robot will stop following and prompt the visitor to move closer or reconfirm.

[0112] When the robot's own positioning is abnormal, the robot stops moving and only provides voice prompts or requests manual intervention.

[0113] When congestion or obstacles occur, the robot enters obstacle avoidance mode and does not force its way through the crowd.

[0114] When visitors leave the exhibition hall exit area, the system ends the guided tour and releases the robot.

[0115] When the robot's battery level drops below the threshold, it will stop accepting new tasks, complete the current safety action, and return to the charging point.

[0116] like Figure 2 As shown in the figure, this embodiment provides an exhibition hall accompanying guide system based on UWB positioning and mobile robots, including:

[0117] UWB base stations are deployed in the exhibition hall for ranging or positioning with visitor tags or robot positioning units;

[0118] Visitor UWB location tags are linked to visitor guided tour sessions and continuously output visitor location and online status.

[0119] The mobile robot is equipped with a mobile chassis, voice broadcast, screen display, obstacle avoidance sensors and communication module, and can perform tasks such as accompanying movement and explaining exhibits;

[0120] The background positioning engine calculates visitor location, positioning quality, and timestamp, and provides positioning data to the tour control module;

[0121] The tour guide control module generates accompanying tour guide strategies and robot control instructions based on the three-element collaborative relationship between visitors, mobile robots, and exhibits.

[0122] The exhibition content library stores exhibit descriptions, images, videos, Q&A materials, recommended routes, and tags for the target audience.

[0123] Preferably, this embodiment also includes an audience terminal for content synchronization and interactive feedback with the mobile robot, enabling the collaborative presentation of on-site voice explanations and supplementary on-screen content.

[0124] The following example illustrates the working process of a mobile robot accompanying a tour.

[0125] I. Single-person guided tour

[0126] Visitor Xiao Zhang received and wore a UWB positioning tag at the entrance, and the system linked the tag number to his guided tour session. After Xiao Zhang entered the exhibition hall, the robot was in standby mode. The backend positioning engine detected that Xiao Zhang had entered the robot service area, and that Xiao Zhang had clicked "Robot-Assisted Guided Tour" on his visitor terminal. The system determined that Xiao Zhang's tag positioning was reliable, the robot had sufficient battery power, and the distance between the two was 3 meters, meeting the locking conditions.

[0127] The robot approached Xiao Zhang, stopped about 1.2 meters away, and said, "Hello, I can accompany you on a tour of this exhibition area." After Xiao Zhang confirmed, the system set the first target exhibit as "Exhibition Area One." The robot selected parallel mode based on the map and moved slowly along the side of the aisle. After Xiao Zhang reached the exhibit and paused for 5 seconds, the robot stopped in a position that did not obstruct the display case and began its explanation.

[0128] After the explanation, Xiao Zhang continued moving towards exhibition area two. The robot detected that Xiao Zhang's direction of movement was consistent with that of exhibition area two and switched to guide mode, leading the way from approximately 1.5 meters ahead. Throughout the process, the robot continuously adjusted its speed based on Xiao Zhang's UWB position and its own position to avoid getting too close or too far.

[0129] II. Prevent following the wrong person in crowded areas

[0130] During peak tourist seasons, multiple visitors may approach the robot simultaneously. Instead of prioritizing the visually closest person, the robot determines its service based on factors such as the associated tag_id, the current status of the guided tour session, location reliability, user request, distance, and duration.

[0131] If another visitor walks past the robot without a guided tour session or requesting its service, the system will not allow the robot to switch targets. The robot only releases the current target and begins the next target recognition cycle when the original visitor leaves the service area or actively ends the guided tour. This mechanism reduces the probability of the robot following the wrong person, providing incorrect explanations, or suddenly changing direction in multi-person scenarios.

[0132] III. Resumption of Guided Tour After Robot Obstacle Avoidance and Yielding

[0133] As the robot led Xiao Zhang to the next exhibit, a child and a stroller suddenly appeared in front of the passage. The robot's obstacle avoidance sensors detected the obstacle, and the guide control module switched to "obstacle avoidance and yielding." The robot slowed down and stopped at the edge of the passage, while simultaneously informing Xiao Zhang, "There are many people ahead, please wait a moment."

[0134] Once the obstacle leaves the passage, the robot recalculates the distance and path between them based on Xiao Zhang's latest UWB location. If Xiao Zhang is still nearby and remains in guided mode, the robot resumes accompanying guidance; if Xiao Zhang has already reached the target exhibit on his own, the robot goes directly to the appropriate explanation point and enters exhibit explanation mode.

[0135] IV. Group Tour

[0136] A company's visiting team consists of 20 people. The person in charge of the presentation wears a main tag, while the other members wear regular location tags or use only visitor terminals. The robot follows the main tag and selects its position based on the distribution of team members. Once most members have reached the vicinity of the exhibit, the robot begins its presentation. If the main tag moves too fast and the team members have not yet followed, the robot slows down and prompts, "Please move closer; we will begin our presentation at the exhibit ahead."

[0137] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Based on the technical essence of the present invention, any simple modifications, equivalent substitutions, and improvements made to the above embodiments within the spirit and principles of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for guided tours of exhibition halls based on UWB positioning and mobile robots, characterized in that, Includes the following steps: Step 1: Obtain the location data of the UWB positioning tag worn by the visitor, and bind the UWB positioning tag to a guided tour session; Step 2: Based on the tag identity, session status, and preset conditions, identify the service recipient; Step 3: Real-time calculation of the ternary collaborative relationship between visitors, mobile robots, and target exhibits; Step 4: Generate a guided tour strategy for the mobile robot based on the aforementioned ternary collaborative relationship; Step 5: Control the mobile robot to move with the visitor according to the accompanying tour strategy, and execute the explanation task of the corresponding exhibit when the exhibit explanation trigger condition is met.

2. The method according to claim 1, characterized in that, In step one, the visitor's location data includes the visitor's planar coordinates, timestamp, and location reliability. When the location reliability is lower than a preset threshold, the mobile robot does not perform target locking or enters a pause waiting state.

3. The method according to claim 1, characterized in that, The locking conditions for the service recipients include: Visitor tags are in a valid binding state and location credibility is higher than a preset threshold; Visitors are either located within the mobile robot service area or have proactively requested a guided tour. Visitors are within an accessible distance from the mobile robot; The visitor's movement direction, stopping behavior, or terminal operation are matched with the current guided tour task; Once the above conditions are met for a preset period of time, the visitor will be officially designated as a service recipient.

4. The method according to claim 1, characterized in that, The specific calculation steps for the ternary synergistic relationship include: Calculate the distance from the visitor to the mobile robot, the distance from the visitor to the target exhibit, and the distance from the mobile robot to the target exhibit; Calculate the angle between the visitor's direction of movement and the direction of the target exhibit; Calculate the time visitors spend near the target exhibit; Calculate the collaboration score S to determine whether to generate an accompanying guided tour task: S = w1·Qv + w2·Qr + w3·Fd + w4·Fdir + w5·Fstay + w6·Fhist - w7·Frisk; Where Qv is visitor location reliability, Qr is robot navigation status reliability, Fd is distance adaptability, Fdir is direction consistency, Fstay is dwell behavior, Fhist is historical tour status, Frisk is obstacle, congestion or low battery risk factors, and w1 to w7 are weighting coefficients. When the collaboration score S exceeds the set threshold and the safety conditions of the mobile robot are met, a mobile robot-assisted tour task is generated.

5. The method according to claim 1, characterized in that, The accompanying guided tour strategies in step four include: leading mode, parallel mode, following mode, stop and explain mode, pause and wait mode, and obstacle avoidance and yielding mode; wherein, the switching of the modes is dynamically adjusted based on the visitor's movement status, exhibit position, and passage conditions.

6. The method according to claim 1, characterized in that, The conditions for triggering the explanation include: Visitors are located in the explanation area for the target exhibits; The mobile robot arrives at the preset explanation location; Visitors stayed longer than the predetermined threshold; Visitors lingered near exhibits for longer than a set threshold. The explanation of the target exhibit has not yet been completed; When all of the above conditions are met, the mobile robot will trigger the explanation.

7. The method according to claim 1, characterized in that, The mobile robot is equipped with a UWB positioning tag to obtain its position in the exhibition hall coordinate system. The mobile robot also uses its own lidar, odometer, depth camera or ultrasonic sensor for local obstacle avoidance.

8. The method according to claim 1, characterized in that, When obstacles, crowds, low battery, abnormal positioning, or visitors leaving the service area are detected, the mobile robot enters obstacle avoidance, pause and wait, or end / return to charging state.

9. A guided tour system for exhibition halls based on UWB positioning and mobile robots, characterized in that: include: UWB base stations are deployed in the exhibition hall for ranging or positioning with visitor tags or robot positioning units; Visitor UWB location tags are linked to visitor guided tour sessions and continuously output visitor location and online status. The mobile robot is equipped with a mobile chassis, voice broadcast, screen display, obstacle avoidance sensors and communication module, and can perform tasks such as accompanying movement and explaining exhibits; The background positioning engine calculates visitor location, positioning quality, and timestamp, and provides positioning data to the tour control module; The tour guide control module generates accompanying tour guide strategies and robot control instructions based on the three-element collaborative relationship between visitors, mobile robots, and exhibits. The exhibition content library stores exhibit descriptions, images, videos, Q&A materials, recommended routes, and tags for the target audience.

10. The system according to claim 9, characterized in that, It also includes audience terminals for content synchronization and interactive feedback with mobile robots, enabling collaborative presentation of on-site audio explanations and supplementary on-screen content.

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